projection.hpp

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/*
 *    This file is part of ACADO Toolkit.
 *
 *    ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
 *    Copyright (C) 2008-2014 by Boris Houska, Hans Joachim Ferreau,
 *    Milan Vukov, Rien Quirynen, KU Leuven.
 *    Developed within the Optimization in Engineering Center (OPTEC)
 *    under supervision of Moritz Diehl. All rights reserved.
 *
 *    ACADO Toolkit is free software; you can redistribute it and/or
 *    modify it under the terms of the GNU Lesser General Public
 *    License as published by the Free Software Foundation; either
 *    version 3 of the License, or (at your option) any later version.
 *
 *    ACADO Toolkit is distributed in the hope that it will be useful,
 *    but WITHOUT ANY WARRANTY; without even the implied warranty of
 *    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 *    Lesser General Public License for more details.
 *
 *    You should have received a copy of the GNU Lesser General Public
 *    License along with ACADO Toolkit; if not, write to the Free Software
 *    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 *
 */



#ifndef ACADO_TOOLKIT_PROJECTION_HPP
#define ACADO_TOOLKIT_PROJECTION_HPP


#include <acado/symbolic_operator/symbolic_operator_fwd.hpp>


BEGIN_NAMESPACE_ACADO


class Projection : public SmoothOperator{


friend class FunctionEvaluationTree;


public:


    Projection();

    Projection( const std::string& name_ );

    Projection( VariableType variableType_, int vIndex_, const std::string& name_ );


    Projection( const Projection& arg );


    virtual ~Projection();



    virtual returnValue evaluate( int     number    ,
                                  double *x         ,
                                  double *result      );


        virtual returnValue evaluate( EvaluationBase *x );
        
        
     virtual Operator* differentiate( int index   );



     virtual Operator* AD_forward( int                dim      , 
                                     VariableType      *varType  , 
                                     int               *component, 
                                     Operator       **seed     , 
                                     int                &nNewIS  , 
                                     TreeProjection ***newIS     );



    virtual returnValue AD_backward( int           dim      , 
                                     VariableType *varType  , 
                                     int          *component, 
                                     Operator     *seed     , 
                                     Operator    **df       , 
                                     int           &nNewIS  , 
                                     TreeProjection ***newIS   );

    
    
     virtual returnValue AD_symmetric( int            dim       , 
                                      VariableType  *varType   , 
                                      int           *component , 
                                      Operator      *l         , 
                                      Operator     **S         , 
                                      int            dimS      , 
                                      Operator     **dfS       , 
                                      Operator     **ldf       , 
                                      Operator     **H         , 
                                      int            &nNewLIS  , 
                                      TreeProjection ***newLIS , 
                                      int            &nNewSIS  , 
                                      TreeProjection ***newSIS , 
                                      int            &nNewHIS  , 
                                      TreeProjection ***newHIS    );



     virtual Operator* substitute( int   index           ,
                                     const Operator *sub );



     virtual NeutralElement isOneOrZero() const;



     virtual BooleanType isDependingOn( VariableType var ) const;



     virtual BooleanType isDependingOn( int           dim      ,    
                                          VariableType *varType  ,    
                                          int          *component,    
                                          BooleanType   *implicit_dep  );




     virtual BooleanType isLinearIn( int           dim      ,    
                                       VariableType *varType  ,    
                                       int          *component,    
                                       BooleanType  *implicit_dep   );



     virtual BooleanType isPolynomialIn( int           dim      ,    
                                           VariableType *varType  ,    
                                           int          *component,    
                                           BooleanType  *implicit_dep   );



     virtual BooleanType isRationalIn( int           dim      ,    
                                         VariableType *varType  ,    
                                         int          *component,    
                                         BooleanType  *implicit_dep   );



     virtual MonotonicityType getMonotonicity( );



     virtual CurvatureType getCurvature( );



     virtual returnValue setMonotonicity( MonotonicityType monotonicity_ );




     virtual returnValue setCurvature( CurvatureType curvature_  );



     virtual returnValue AD_forward( int     number  ,
                                     double *seed    ,
                                     double *df        );



     virtual returnValue AD_forward( int     number  ,
                                     double *x       ,
                                     double *seed    ,
                                     double *f       ,
                                     double *df        );


    // IMPORTANT REMARK FOR AD_BACKWARD: run evaluate first to define
    //                                   the point x and to compute f.

     virtual returnValue AD_backward( int    number ,
                                      double seed   ,
                                      double  *df   );



     virtual returnValue AD_forward2( int    number  ,
                                      double *seed1  ,
                                      double *seed2  ,
                                      double *df     ,
                                      double *ddf    );



    // IMPORTANT REMARK FOR AD_BACKWARD2: run AD_forward first to define
    //                                    the point x and to compute f and df.

     virtual returnValue AD_backward2( int    number ,
                                       double seed1  ,
                                       double seed2  ,
                                       double   *df  ,
                                       double  *ddf     );



     virtual std::ostream& print( std::ostream &stream ) const;



     virtual Operator* clone() const;


     virtual returnValue clearBuffer();



     virtual returnValue enumerateVariables( SymbolicIndexList *indexList );


     virtual OperatorName getName();


     virtual double getScale() const;


     virtual returnValue setScale( const double &scale_ );


     virtual BooleanType isVariable( VariableType &varType,
                                     int &component          ) const;



     virtual int getVariableIndex( ) const;


     virtual int getGlobalIndex() const;


     VariableType getType( ) const;


     virtual returnValue loadIndices( SymbolicIndexList *indexList );


    virtual BooleanType isSymbolic() const;


    virtual returnValue setVariableExportName(  const VariableType &_type,
                                                                                        const std::vector< std::string >& _name
                                                                                        );


    virtual BooleanType isTrivial() const;

//
//  PROTECTED FUNCTIONS:
//

protected:


     virtual Operator* ADforwardProtected( int                dim      , 
                                             VariableType      *varType  , 
                                             int               *component, 
                                             Operator       **seed     , 
                                             int                &nNewIS  , 
                                             TreeProjection ***newIS     );



     virtual returnValue ADbackwardProtected( int            dim      , 
                                              VariableType  *varType  , 
                                              int           *component, 
                                              Operator      *seed     , 
                                              Operator     **df       , 
                                              int            &nNewIS  , 
                                              TreeProjection ***newIS     );

     
     virtual returnValue ADsymmetricProtected( int            dim       , 
                                               VariableType  *varType   , 
                                               int           *component , 
                                               Operator      *l         , 
                                               Operator     **S         , 
                                               int            dimS      , 
                                               Operator     **dfS       , 
                                               Operator     **ldf       , 
                                               Operator     **H         , 
                                               int            &nNewLIS  , 
                                               TreeProjection ***newLIS , 
                                               int            &nNewSIS  , 
                                               TreeProjection ***newSIS , 
                                               int            &nNewHIS  , 
                                               TreeProjection ***newHIS    );



//  PROTECTED MEMBER FUNCTIONS:
// ---------------------------------------------

    virtual void copy( const Projection &arg );


//
//  PROTECTED MEMBERS:
//

protected:

    VariableType      variableType ;
    int               variableIndex;
    int               vIndex       ;
    double            scale        ;
    std::string       name         ;

    OperatorName      operatorName ;

    CurvatureType     curvature    ;
    MonotonicityType  monotonicity ;
};


CLOSE_NAMESPACE_ACADO



#endif